roslaunch stuck on 'Loading robot model'

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Hi all.

I'm trying to run a moveit path that I have planned out with the following launch file:

<launch>
    <arg name="urdf_file" default="$(find planar_2d_description)/urdf/planar_2d.urdf" />
    <arg name="srdf_file" default="$(find planar_2d_config)/config/planar_2d.srdf" />
    <param name="robot_description" command="cat $(arg urdf_file)" />
    <param name="robot_description_semantic" command="cat $(arg srdf_file)" />
    <include file="$(find planar_2d_config)/launch/planar_2d_moveit_controller_manager.launch.xml"/>
    <node
        pkg="planar_2d_planning"
        type="project_part_one"
        name="planning_node"
        output="screen"
    />
</launch>

However, on launch ROS seems to hang up at this step:

[ INFO] [1428960470.895442847]: Loading robot model 'planar_2d'...

And if I kill it with ctrl+C:

terminate called after throwing an instance of 'std::runtime_error' what(): Unable to connect to move_group action server within allotted time (2)

I'm at a loss as to what can be causing this. The paths to my urdf and srdf are correct, and I am passing the param the contents of the file with cat, not just the path.

If anyone has any ideas it would be greatly appreciated. Thanks.